Commit 99b38851 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[sot_tiago_bringup] Add missing file geometric_simu_context.launch

parent d1359004
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
<!-- Which robot are we controlling ? -->
<arg name="robot" default="tiago" />
<arg name="libsot" default="" />
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
<param name="robot_description"
textfile="$(find tiago_data)/urdf/tiago_reduced.urdf" />
<!-- Load robot sot params. -->
<rosparam command="load"
file="$(find sot_tiago_bringup)/sot/tiago.yaml" />
<machine name="geometric_simu_machine"
address="localhost" />
Read joint_states topic and publish link positions to tf.
openhrp_bridge publishes encoder values to the joint_states topic
therefore, this provide the most reliable way of identifying link
relative position on HRP-2.
<node name="robot_state_publisher"
<param name="tf_prefix" value="" />
<!-- Buffer Server -->
<node pkg="tf2_ros" type="buffer_server"
name="tf2_buffer_server" respawn="true">
<param name="buffer_size" value="120.0"/>
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